CN105943325A - Blind guiding equipment - Google Patents
Blind guiding equipment Download PDFInfo
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- CN105943325A CN105943325A CN201610396761.2A CN201610396761A CN105943325A CN 105943325 A CN105943325 A CN 105943325A CN 201610396761 A CN201610396761 A CN 201610396761A CN 105943325 A CN105943325 A CN 105943325A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Rehabilitation Tools (AREA)
Abstract
The embodiment of the invention discloses blind guiding equipment. The blind guiding equipment comprises a stick body, a processor, two ultrasonic ranging modules and a voice output module. The ultrasonic ranging modules comprise stepping motors and ultrasonic ranging sensors. The two ultrasonic ranging sensors are used for detecting obstacles under the position in front of a user and obstacles on the position in front of the user. Included angle information of the direction of a probe of each ultrasonic ranging sensor and the stick body on the upper side of the ultrasonic ranging sensor is recorded in the processor. The processor is used for controlling the voice output module to output voice for prompting the positions of the obstacles to the user based on the distance detected by the ultrasonic ranging sensors and the rotation angle and included information of the stepping motors at the moment when the obstacles are detected by the ultrasonic ranging sensors. According to the scheme, the problem that blind guiding equipment in the prior art cannot provide accurate position information aiming at the obstacles is solved.
Description
Technical field
The present invention relates to blind person's walk supporting device technical field, particularly to a kind of guide equipment.
Background technology
Blind person, due to visually-handicap, typically requires auxiliary device or seeing-eye dog etc. walking when
Assist their perception surrounding enviroment, to help them to walk.In society now, the guide equipment such as blind-guiding stick
Most widely used, and along with science and technology development, guide equipment increasingly trends towards intellectuality,
Such as, a lot of blind-guiding sticks are all the use of ultrasonic measuring distance technology now.
In the prior art, the range information generally ultrasonic measuring distance technology obtained is informed in a voice form
To blind person, so that blind person judges the approximate distance of barrier according to the sound heard.
But, the sound that blind person hears is only capable of reflecting the range information of barrier, and blind person can not be allowed to know
The azimuth information of barrier, and the position of barrier needs according to the position including azimuth information and range information
Confidence breath judges, thus, guide equipment of the prior art can not provide position accurately for barrier
Confidence ceases.
Summary of the invention
The embodiment of the invention discloses a kind of guide equipment, being used for solving guide equipment of the prior art cannot
The problem providing positional information accurately for barrier.Technical scheme is as follows:
Embodiments provide a kind of guide equipment, including: cane body, processor, voice output module
With two ultrasonic distance measuring modules,
Described ultrasonic distance measuring module, including the motor being arranged on described cane body and be arranged on described step
Enter the ultrasonic distance-measuring sensor on the output shaft of motor；Two described ultrasonic distance-measuring sensors are respectively used to
Detection user front lower place barrier and front upper place barrier；
In described processor, record has sensing and this ultrasound wave of the probe of each described ultrasonic distance-measuring sensor
The angle information of the cane body on the upside of distance measuring sensor, described processor is at described ultrasonic distance-measuring sensor
When detecting barrier, the distance that measures based on described ultrasonic distance-measuring sensor, this moment motor
The anglec of rotation and described angle information, control described voice output module and export for pointing out user barrier
The sound of position.
Preferably, described voice output module is stereo output module.
Preferably, described voice output module includes data sub module stored and stereo output sub-module, institute
State storage in data sub module stored and have the stereo file corresponding to diverse location.
Preferably, described sub module stored includes SD card and the SD card slot suitable with described SD card.
Preferably, described stereo output sub-module includes blue-tooth stereo earphone or normal stereo earphone.
Preferably, described guide equipment also includes that infra-red detection module, described infra-red detection module are used for
The positional information of detecting pedestrian；
Described processor is additionally operable to: when described infra-red detection module detects pedestrian, based on described infrared
The positional information of the pedestrian that line detecting module detects, controls described voice output module and exports for pointing out use
The sound of family pedestrian position.
Preferably, described infra-red detection module includes the motor being arranged on described cane body and is arranged on
Infrared ray sensor on the output shaft of described motor.
Preferably, described infra-red detection module includes multiple infrared ray sensor, and each described infrared ray passes
The maximum detectable range that sensor is corresponding all differs.
In this programme, processor controls motor in ultrasonic distance measuring module and rotates, and processor can be known
The rotational angle of any time motor, in processor, also record has each described ultrasonic distance-measuring sensor
Probe point to this ultrasonic distance-measuring sensor on the upside of the angle information of cane body, pass in ultrasonic ranging
When sensor detects distance, processor can control what ultrasonic distance-measuring sensor was measured by voice output module
Distance, the anglec of rotation of this moment motor and this angle information are can allow user direct or indirect
Know that the form of the sound of Obstacle Position informs user, with solve guide equipment of the prior art cannot pin
The problem that barrier provides positional information accurately, brings great convenience to blind person.
Certainly, arbitrary product or the method for implementing the present invention must be not necessarily required to reach above-described institute simultaneously
There is advantage.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation of a kind of guide equipment that Fig. 1 provides for the embodiment of the present invention；
The system control block figure of a kind of guide equipment that Fig. 2 provides for the embodiment of the present invention；
Fig. 3 is for showing the partial structurtes signal of two described ultrasonic distance measuring modules in the embodiment of the present invention
Figure；
Fig. 4 is the plane signal in the scanning probe region of ultrasonic distance-measuring sensor described in the embodiment of the present invention
Figure；
Fig. 5 is the detection principle schematic diagram of ultrasonic distance measuring module detecting obstacles thing described in the embodiment of the present invention；
Fig. 6 is the detection principle schematic diagram of infra-red detection module detecting pedestrian described in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
A kind of guide equipment that the embodiment of the present invention is provided, as depicted in figs. 1 and 2, this guide equipment includes:
Cane body 1, processor 2, voice output module 4 and two ultrasonic distance measuring modules 3.It is appreciated that this guide
Equipment also includes power supply 7, such as rechargeable lithium battary etc..
Should be noted that in FIG, this guide equipment is blind-guiding stick, it will be understood that implement in the present invention
In example, this guide equipment can be blind-guiding stick but be not limited to blind-guiding stick, it is also possible to is other guide equipment, example
Such as common Wearable guide equipment and hand held guide equipment.It is emphasized that cane body 1 described herein
Structure be not limited to the structure shown in Fig. 1, it is also possible to be that other can install two described ultrasonic rangings
The structure of module 3.
Above-mentioned ultrasonic distance measuring module 3, including the motor 302 being arranged on described cane body 1 be arranged on this
Ultrasonic distance-measuring sensor 301 on the output shaft of motor 302；Two described ultrasonic distance-measuring sensors
301 are respectively used to detect user front lower place barrier and front upper place barrier.
As it is shown on figure 3, in embodiments of the present invention, ultrasonic distance-measuring sensor 301 described in above-mentioned two is respectively
For detecting user front lower place barrier and front upper place barrier it can be understood as two ultrasonic rangings sense
The probe of device 301 points to front upper place and the front lower place being respectively user.It is emphasized that use described herein
Front upper place, family can refer respectively to the region on front side of user's body, more than height residing for head, correspondence, uses
Front lower place, family can be height area below on front side of user's body, residing for head.
It will be appreciated by persons skilled in the art that as it is shown on figure 3, the probe of ultrasonic distance-measuring sensor 301
Point to the dotted line direction of the band arrow being in figure, it should explanation, the folder being numbered θ in figure
Angle is field angle of the prior art.
It is emphasized that in actual applications, can be by regulating the probe of ultrasonic distance-measuring sensor 301
Point to this ultrasonic distance-measuring sensor 301 on the upside of the angle of cane body 1, i.e. angle α in Fig. 3 and β, come
The probe of regulation ultrasonic distance-measuring sensor 301 points to.
In above-mentioned processor 2, record has the sensing of the probe of each described ultrasonic distance-measuring sensor 301 to surpass with this
The angle information of the cane body 1 on the upside of sound ranging sensor 301, such as the angle α in Fig. 3 and β, described process
Device 2 is for when described ultrasonic distance-measuring sensor 301 detects barrier 14, based on described ultrasonic ranging
Distance, the anglec of rotation of this moment motor 302 and the described angle information that sensor 301 measures, control
Make described voice output module 4 and export the sound for pointing out user's Obstacle Position.
The sound that should be noted that this prompting user's Obstacle Position can be directly to inform user's barrier
The voice of position, such as " at 45 degree 1 meter to the right of your front upper place, having barrier, it is noted that ", " please note you
Barrier at 30 degree 0.5 meter to the left of front " etc..
Certainly, due to blind person's sensitivity to audition, in embodiments of the present invention, this prompting user's barrier
The sound of position can also is that the police with stereo sound effect such as the prompt tone of solid, such as " tick, tick, tick "
Report sound, corresponding distance can be by embodying the broadcasting speed of " tick, tick, tick " prompt tone, such as,
User distance barrier 14 is the nearest, and the broadcasting speed of the prompt tone of this solid is the highest, it appears the most rapid；In addition
The power of sound also can embody the distance of barrier 14, it is clear that, user from barrier 14 more close to, this stand
The sound of the prompt tone of body is the strongest, from barrier 14 more away from, the sound of the prompt tone of this solid is the most weak.
In embodiments of the present invention, when the sound of this prompting user's Obstacle Position is three-dimensional prompt tone, institute
State voice output module 4 for stereo output module.
It is well known by those skilled in the art that stereo referring to has relief sound.Stereo recorded,
Playback time after the process such as amplification, if sound is all released from a speaker, spatial impression originally the most just disappears
Lose, if from recorded playback, whole system can recover to a certain extent primary life spatial impression that
, this acoustical reproduction with spatial characteristics such as a certain degree of orientation stereovision, referred to as sound technique
In stereo.
It is understood that people is when the sound that perception is extraneous, the acoustical phase received by ears, intensity
And frequency all has difference, people can the most substantially judge the azimuth-range of sound source；Blind person is for audition
Sensitivity, makes them especially can be based on the acoustical phase received by ears, intensity and frequency, accurately
Ground judges the azimuth-range of sound source.
In order to allow user hear the prompt tone of solid, can measure based on above-mentioned ultrasonic distance-measuring sensor 301
Distance, the anglec of rotation of this moment motor 302 and described angle information, by prior art to monophone
Prompt tone file directly calculate generation stereo file.
Certainly, in order to reduce the above-mentioned calculating time so that guide equipment is when detecting barrier 14, it is possible to
In time the positional information of barrier 14 is informed user, as in figure 2 it is shown, this voice output module 4 can be wrapped
Include data sub module stored and stereo output sub-module, in described data sub module stored storage have corresponding to
The stereo file of diverse location.
It is appreciated that in above-mentioned data sub module stored that storage has the stereo file corresponding to diverse location,
May refer to, the head corresponding to people is in the three-dimensional coordinate that virtual initial point builds, corresponding different coordinate points
Stereo file；Processor 2 obtains distance, this moment step that above-mentioned ultrasonic distance-measuring sensor 301 measures
After entering the anglec of rotation and the described angle information of motor 302, from sub module stored, directly transfer the vertical of correspondence
Body sound file, this stereo file is after played in stereo equipment exports to blind person, and blind person can stand based on this
The stereo position judging barrier 14 that body sound file is corresponding.
It will be evident that processor 2 obtains distance, this moment stepping that above-mentioned ultrasonic distance-measuring sensor 301 measures
After the anglec of rotation of motor 302 and described angle information, from sub module stored, directly transfer the solid of correspondence
Sound file, it is not necessary to obtain stereo file by calculating in real time, decrease the operand of processor 2, enter
And reach the purpose of power saving, but also do not interfere with the stereo sound effect of the prompt tone of solid.
Above-mentioned sub module stored can be to include SD card (Secure Digital Memory Card, secure data card)
And the SD card slot 6 suitable with described SD card, certainly, in the embodiment of the present invention, sub module stored also may be used
Being that other can be with the storage device of storing stereoscopic sound file.It addition, this stereo output sub-module can wrap
Include blue-tooth stereo earphone or normal stereo earphone 12, as it is shown in figure 1, be provided with earphone on this guide equipment
Jack 13, normal stereo earphone 12 is inserted in earphone jack 13, and three-dimensional prompt tone passes through normal stereo
Earphone 12 sends user to.
It is emphasized that the number of the coordinate points in space is infinite multiple, so in actual application
Cheng Zhong, in order to reduce the quantity of the stereo file of storage, can represent one by a stereo file correspondence
Block space region.As shown in Figure 4, when ultrasonic distance-measuring sensor 301 carrys out back rotation at an angle,
In the plane domain that the sensing of probe is constituted, can build a sector region, this sector region is corresponding
The center of circle is approximately ultrasonic distance-measuring sensor 301 present position, the radius of this sector region can be preset away from
From, can also be the maximum detectable range of ultrasonic distance-measuring sensor 301 simultaneously.
In present invention enforcement in example, the sector region shown in Fig. 4 can be divided into multiple central angle and width phase
Same fan ring region territory, such as figure, the central angle in each fan ring region territory isSuch as 5 °, 10 ° etc., fan ring
The width in region is L1, at this point it is possible to storage and each fan ring region territory one a pair in above-mentioned sub module stored
The stereo file answered, i.e. represents, by a stereo file correspondence, the sector region that this stereo file is corresponding,
To reduce the quantity of the stereo file of storage, reduce the memory space that all of stereo file takies.
Should be noted that the building respectively of two ultrasonic distance-measuring sensors of the corresponding embodiment of the present invention
Two sector regions in, stereo file corresponding to each fan ring region territory also corresponding should embody barrier
The azimuth information of 14 in the vertical directions, such as, ultrasonic distance-measuring sensor above in Fig. 3 detects
During barrier 14, user hear correspondence stereo after may determine that this barrier 14 is in its front upper place,
When ultrasonic distance-measuring sensor below being positioned in Fig. 3 detects barrier 14, user hears the stereo of correspondence
After may determine that this barrier 14 is in its front lower place.
As it is shown in figure 5, the motor 302 in ultrasonic distance measuring module 3 drives ultrasonic distance-measuring sensor 301
Back rotation is carried out in default angular range, when ultrasonic distance-measuring sensor detects distance S of barrier 14,
Can feed back to processor 2 immediately, the anglec of rotation of processor 2 immediate record this motor 302 current, at this
In inventive embodiments, intermediate base directrix L can be preset, it will be understood that this intermediate base directrix L Compass
Showing the dead ahead of user, currently the anglec of rotation of this motor 302 can be with the sensing of probe and this intermediate base
The angle ω of directrix L represents.
In the embodiment of the present invention, in order to allow users to find its pedestrian at one's side in time, to seek to pedestrian
Asking help etc., this guide equipment can also include that infra-red detection module 5, described infra-red detection module 5 are used
Positional information in detecting pedestrian；
Described processor 2 is additionally operable to: when described infra-red detection module 5 detects pedestrian 15, based on described
The positional information of the pedestrian 15 that infra-red detection module 5 detects, controls the output of described voice output module 4 and uses
In the sound of prompting user pedestrian 15 position, infra-red detection module 5 can use common rpyroelectric infrared
Sensor.
In order to expand the investigative range of infra-red detection module 5, described infra-red detection module 5 can include peace
The motor 302 being contained on described cane body 1 is infrared be arranged on the output shaft of described motor 302
Line sensor 501.
Should be noted that the motor 302 in infra-red detection module 5 is mounted in the one of cane body 1 equally
Side, and according to certain angle left-right rotation to detect the pedestrian 15 in user front, turning of this motor 302
Flowing mode is referred to the rotating manner of the motor 302 in above-mentioned ultrasonic distance measuring module 3.Infrared ray is visited
The motor 302 surveyed in module 5 is connected by signal with processor 2, and processor 2 controls this motor 302
Rotation, simultaneously any one infrared ray sensor 501 in infra-red detection module 5 detects pedestrian 15
Time, record ought the anglec of rotation of up till now motor 302.
In embodiments of the present invention, described infra-red detection module 5 includes multiple infrared ray sensor 501, respectively
The maximum detectable range of individual described infrared ray sensor 501 correspondence all differs.
Should be noted that infrared ray sensor 501 can detect in the range of a certain distance with or without pedestrian 15,
But, this distance range is the biggest, such as, in the range of a certain infrared ray sensor may detect 5 meters
With or without pedestrian 15.
It is emphasized that in order to obtain range information between user and pedestrian accurately, the present invention implements
Multiple infrared ray sensors 501 set in example, can allow the information that processor 2 returns based on each sensor,
So that processor 2 more accurately determines the position of pedestrian 15.
It is appreciated that when some infrared ray sensor detects pedestrian, it is assumed that this infrared ray sensor
Maximum detectable range is X；In infra-red detection module, the maximum detectable range of other any one correspondence
Infrared ray sensor less than X is distinguished in each maximum detectable range of correspondence, exist one maximum
Big detection range Y, if infrared ray sensor corresponding to this maximum detectable range Y does not detects pedestrian, then table
Show that pedestrian is in the range of user Y～X；Special, if maximum spy corresponding in infra-red detection module
Find range and detect pedestrian from minimum infrared ray sensor, it is assumed that the maximum detectable range of this infrared ray sensor
For Z, and other infrared ray sensor does not all detect pedestrian, then it represents that pedestrian is in the model from user 0～Z
In enclosing.
As shown in Figure 6, it is assumed that in the embodiment of the present invention, on the motor 302 of infra-red detection module 5
The maximum detectable range of 501,3 infrared ray sensor 501 correspondences of 3 infrared ray sensors is installed respectively
For S1, S2, S3, wherein, S3 ＞ S2 ＞ S1, when the corresponding infrared ray that maximum detectable range is S3 passes
Sensor 501 detects pedestrian 15, shows that this pedestrian 15 is positioned at the distance range of user S3 at one's side, and such as
Really two other infrared ray sensor 501 does not all detect pedestrian 15, and now, processor 2 can be further
Judge that this pedestrian 15 is in the distance range of user S2～S3, the position of pedestrian 15 then will detected
Confidence breath audibly informs user.
Being appreciated that in the embodiment of the present invention, guide equipment detects pedestrian 15 in infra-red detection module 5
Time, the prompt tone being sent to user can be the voice directly informing user's pedestrian position, such as " before you
Side 45 degree 3～4 meters to the right in the range of have pedestrian ", " in the range of 30 degree 5～7 meters to the left of your front, have row
People " etc.；Certainly, this sound can also be three-dimensional prompt tone.
It should be noted that the prompt tone of solid described herein should be with the solid of above-mentioned prompting Obstacle Position information
Prompt tone distinguish, such as, prompt tone herein can be one section of music；It is appreciated that above-mentioned storage
Submodule can store the stereo file of two kinds；The stereo file of these two kinds is the most right
It is applied to point out the stereo sound of Obstacle Position information and the solid for pointing out pedestrian's positional information several
Sound.
Should be noted that in embodiments of the present invention, stereo file can pass through prior art neutral body
Sound virtual reproduction technology and obtain.It is well known by those skilled in the art that HRTF (Head Related Transfer
Function, head-position difficult labor) it is a kind of audio location algorithm, in the prior art, in order to obtain
Related data in HRTF, the head model that can set up virtual people is right to the sound institute obtaining diverse location
The data answered.In embodiments of the present invention, experiment can be first passed through and obtain HRTF data, concrete acquisition
The method of HRTF data can not be described in detail at this based on existing technological means, the embodiment of the present invention.
After obtaining HRTF data, by the HRTF data of all of acquisition respectively with monaural sound
Source file carries out convolution so that in HRTF data, the information about azimuth-range imports to the monophone used
In the sound source file in road, draw multiple corresponding respective direction and the stereo file of distance, finally will obtain
All stereo file store in above-mentioned sub module stored.
In embodiments of the present invention, in order to accelerate to calculate speed, it is possible to use domain of variation method is to above-mentioned convolution
Algorithm is optimized: first HRTF data and monaural sound source file are carried out fast Fourier respectively
Conversion, draws both data in corresponding frequency domain；Then both are multiplied, then it is inverse to carry out fast Fourier
Conversion, i.e. obtains the stereo file of respective direction and distance, thus can reduce amount of calculation greatly.
It addition, for the tonequality and the third dimension that improve stereo sound corresponding to stereo file, the present invention is real
Execute example can also the HRTF data after above-mentioned Fourier transformation be added according to the component ratio of different frequency
Power；And, for identifying that the frequency range that direction effect becomes apparent from is strengthened, other frequency ranges weaken,
To strengthen stereosonic effect.
In this programme, processor 2 controls motor 302 in ultrasonic distance measuring module 3 and rotates, processor 2
Can know the rotational angle of any time motor 302, in processor 2, also record has each described super
Cane body 1 on the upside of the sensing of the probe of sound ranging sensor 301 and this ultrasonic distance-measuring sensor 301
Angle information, when ultrasonic distance-measuring sensor 301 detects distance, it is defeated that processor 2 can control sound
Go out distance, the anglec of rotation of this moment motor 302 that ultrasonic distance-measuring sensor 301 is measured by module 4
Degree and this angle information with can allow user directly or indirectly know Obstacle Position sound form accuse
Know user, positional information accurately cannot be provided for barrier solving guide equipment of the prior art
Problem, brings great convenience to blind person.
For the sake of clarity, a kind of guide below by a concrete example, the embodiment of the present invention provided
The concrete structure of equipment and using method do simple introduction.As it is shown in figure 1, this guide equipment is a blind-guiding stick,
This blind-guiding stick include cane body 1 and cane body 1 top handle 11, cane body 1 is provided with processor Arduino
UNO and a lithium battery as power supply 7, the sub module stored in blind-guiding stick can be to include SD card
And the SD card slot 6 suitable with SD card, this cane body 1 is provided with two ultrasonic distance measuring modules 3
With an infra-red detection module 5, ultrasonic distance measuring module 3 includes that the model being arranged on cane body 1 is SG90
Steering wheel and model be the ultrasonic distance-measuring sensor of HC-SR04；Infra-red detection module 5 includes being arranged on
Model on cane body 1 is the steering wheel of SG90 and 3 models are the infrared ray sensor of HC-SR501.
Corresponding, handle 11 is provided with first of connecting and disconnecting of the circuit for controlling ultrasonic distance measuring module 3
Switch 8, and for controlling the second switch 9 of the connecting and disconnecting of the circuit of infra-red detection module 5, it addition, also set
It is equipped with the main switch 10 of the way circuit break-make controlling whole guide equipment.The upper end of cane body 1 is provided with earphone
Jack 13, this earphone jack 13 connects normal stereo earphone 12.
It is understood that during actual use, when blind person uses blind-guiding stick, cane body is general and water
There is certain angle of inclination γ in plane, in order to make two ultrasonic distance-measuring sensors 301 be capable of point
Yong Yu not detect user front lower place barrier and the function of front upper place barrier, can be by arranging ultrasound
Angle (the figure of the cane body 1 on the upside of the sensing of the probe away from sensor 301 and this ultrasonic distance-measuring sensor 301
Middle α, β) realize above-mentioned functions.
With reference to Fig. 1 and Fig. 3, such as, rule of thumb, this angle of inclination γ is about 60 °, in order to make Fig. 3
In lay respectively at before two ultrasonic distance-measuring sensors 301 of upper and lower can be respectively used to detect user
Lower section barrier and front upper place barrier, can be correspondingly arranged above-mentioned angle β is 90 °, and α is 120 °.
User, when using this blind-guiding stick, first presses main switch 10 and opens the circuit of whole equipment, put on this
Normal stereo earphone 12, then can select to open the first switch 8 and/or second switch 9.
When first switch 8 is opened, two ultrasonic distance measuring modules 3 are started working, ultrasonic distance-measuring sensor
301 in the range of 170 ° of user front (each 85 ° of left and right) scanning probe.
While processor 2 receives one of them ultrasonic distance-measuring sensor 301 obstacle distance, record
Currently correspond to the angle information of the motor 302 of this ultrasonic distance-measuring sensor 301, processor 2 base
In this angle information, range information and correspondence ultrasonic distance-measuring sensor 301 probe sensing with should
The angle information of the cane body 1 on the upside of ultrasonic distance-measuring sensor 301, can calculate barrier 14 relative to
The positional information of user, then for this positional information, transfers the stereo file of correspondence position, this solid
Sound file is exported by normal stereo earphone 12, makes blind person aware Obstacle Position by stereo information.
In like manner, when second switch 9 is opened, infra-red detection module 5 is started working, infrared ray sensor 501
Scanning probe in the range of 170 ° of user front (each 85 ° of left and right).
Processor 2 receives one of them infrared ray sensor 501 when detecting human infrared signal, record
The angle information of the motor 302 in current infra-red detection module 5, and two other is red based on current
Whether outer line sensor 501 detects human infrared signal to judge the range information of pedestrian 15, then locates
Reason device 2, based on this angle information, range information, can calculate the pedestrian 15 positional information relative to user,
Then for the positional information of pedestrian 15, transferring the stereo file of corresponding pedestrian's positional information, this is stereo
File is exported by normal stereo earphone 12, makes blind person know pedestrian position by stereo information.
Label declaration in schematic diagram:
1, cane body；2, processor；3, ultrasonic distance measuring module；301, ultrasonic distance-measuring sensor；302、
Motor；4, voice output module；5, infra-red detection module；501, infrared ray sensor；6、
SD card slot；7, power supply；8, the first switch；9, second switch；10, main switch；11, handle；
12, normal stereo earphone；13, earphone jack；14, barrier；15, pedestrian.
It should be noted that in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these
Relation or the order of any this reality is there is between entity or operation.And, term " includes ", " comprising "
Or its any other variant is intended to comprising of nonexcludability, so that include the mistake of a series of key element
Journey, method, article or equipment not only include those key elements, but also other including being not expressly set out
Key element, or also include the key element intrinsic for this process, method, article or equipment.Do not having
In the case of more restrictions, statement " including ... " key element limited, it is not excluded that including described wanting
Process, method, article or the equipment of element there is also other identical element.
Each embodiment in this specification all uses relevant mode to describe, phase homophase between each embodiment
As part see mutually, what each embodiment stressed is the difference with other embodiments.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement etc. made within the spirit and principles in the present invention, are all contained in
In protection scope of the present invention.
Claims (8)
1. a guide equipment, it is characterised in that including: cane body, processor, voice output module and two
Individual ultrasonic distance measuring module,
Described ultrasonic distance measuring module, including the motor being arranged on described cane body and be arranged on described step
Enter the ultrasonic distance-measuring sensor on the output shaft of motor；Two described ultrasonic distance-measuring sensors are respectively used to
Detection user front lower place barrier and front upper place barrier；
In described processor, record has sensing and this ultrasound wave of the probe of each described ultrasonic distance-measuring sensor
The angle information of the cane body on the upside of distance measuring sensor, described processor is at described ultrasonic distance-measuring sensor
When detecting barrier, the distance that measures based on described ultrasonic distance-measuring sensor, this moment motor
The anglec of rotation and described angle information, control described voice output module and export for pointing out user barrier
The sound of position.
Guide equipment the most according to claim 1, it is characterised in that described voice output module is vertical
Body sound output module.
Guide equipment the most according to claim 2, it is characterised in that described voice output module includes
Data sub module stored and stereo output sub-module, in described data sub module stored, storage has corresponding to not
The stereo file of co-located.
Guide equipment the most according to claim 3, it is characterised in that described sub module stored includes SD
Card and the SD card slot suitable with described SD card.
Guide equipment the most according to claim 3, it is characterised in that described stereo output sub-module
Including blue-tooth stereo earphone or normal stereo earphone.
Guide equipment the most according to claim 1, it is characterised in that described guide equipment also includes red
Outside line detecting module, described infra-red detection module is for the positional information of detecting pedestrian；
Described processor is additionally operable to: when described infra-red detection module detects pedestrian, based on described infrared
The positional information of the pedestrian that line detecting module detects, controls described voice output module and exports for pointing out use
The sound of family pedestrian position.
Guide equipment the most according to claim 6, it is characterised in that described infra-red detection module bag
Include the motor being arranged on described cane body and the infrared ray being arranged on the output shaft of described motor passes
Sensor.
Guide equipment the most according to claim 6, it is characterised in that described infra-red detection module bag
Including multiple infrared ray sensor, the maximum detectable range that each described infrared ray sensor is corresponding all differs.
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| CN106420285A (en) * | 2016-09-30 | 2017-02-22 | 深圳市镭神智能系统有限公司 | Handheld blind guiding equipment |
| CN106580644A (en) * | 2016-12-20 | 2017-04-26 | 上海斐讯数据通信技术有限公司 | Information conversion method and system and blind people navigation method and system |
| CN107174492A (en) * | 2017-05-25 | 2017-09-19 | 东南大学 | Self-adapting adjustment type blind person trade detection device and method based on stepper motor |
| CN108175649A (en) * | 2018-02-23 | 2018-06-19 | 程大国 | A kind of ultrasonic listening blind-guiding stick, control system and method |
| CN108279780A (en) * | 2018-03-01 | 2018-07-13 | 京东方科技集团股份有限公司 | Wearable device and control method |
| CN108646250A (en) * | 2018-06-14 | 2018-10-12 | 山东交通学院 | A kind of Multi probe formula trailer-mounted radar and apart from acquiring method |
| CN108717192A (en) * | 2018-07-09 | 2018-10-30 | Oppo（重庆）智能科技有限公司 | The method of obstacle detecting apparatus and detection of obstacles |
| CN109009906A (en) * | 2018-08-31 | 2018-12-18 | 江苏大学 | A kind of blind guiding rod and its method |
| CN110225432A (en) * | 2019-05-10 | 2019-09-10 | 中国船舶重工集团公司第七一五研究所 | A kind of sonar target solid listens to method |
| CN110368273A (en) * | 2019-07-26 | 2019-10-25 | 西南科技大学 | A kind of portable intelligent blind-guide device and method |
| CN111544267A (en) * | 2020-05-09 | 2020-08-18 | 上海忆益信息科技有限公司 | Intelligent blind crutch |
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| CN106420285A (en) * | 2016-09-30 | 2017-02-22 | 深圳市镭神智能系统有限公司 | Handheld blind guiding equipment |
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| CN109009906A (en) * | 2018-08-31 | 2018-12-18 | 江苏大学 | A kind of blind guiding rod and its method |
| CN110225432A (en) * | 2019-05-10 | 2019-09-10 | 中国船舶重工集团公司第七一五研究所 | A kind of sonar target solid listens to method |
| CN110368273A (en) * | 2019-07-26 | 2019-10-25 | 西南科技大学 | A kind of portable intelligent blind-guide device and method |
| CN111544267A (en) * | 2020-05-09 | 2020-08-18 | 上海忆益信息科技有限公司 | Intelligent blind crutch |
| CN116035875A (en) * | 2023-01-29 | 2023-05-02 | 中航华东光电（上海）有限公司 | HRTF earphone system with intelligent obstacle avoidance reminding function |
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